1 // SPDX-License-Identifier: GPL-2.0-only
2 /*
3 * Copyright (C) 2012 Invensense, Inc.
4 */
5 
6 #include <linux/pm_runtime.h>
7 #include "inv_mpu_iio.h"
8 
9 static unsigned int inv_scan_query_mpu6050(struct iio_dev *indio_dev)
10 {
11 	struct inv_mpu6050_state  *st = iio_priv(indio_dev);
12 	unsigned int mask;
13 
14 	/*
15 	 * If the MPU6050 is just used as a trigger, then the scan mask
16 	 * is not allocated so we simply enable the temperature channel
17 	 * as a dummy and bail out.
18 	 */
19 	if (!indio_dev->active_scan_mask) {
20 		st->chip_config.temp_fifo_enable = true;
21 		return INV_MPU6050_SENSOR_TEMP;
22 	}
23 
24 	st->chip_config.gyro_fifo_enable =
25 		test_bit(INV_MPU6050_SCAN_GYRO_X,
26 			 indio_dev->active_scan_mask) ||
27 		test_bit(INV_MPU6050_SCAN_GYRO_Y,
28 			 indio_dev->active_scan_mask) ||
29 		test_bit(INV_MPU6050_SCAN_GYRO_Z,
30 			 indio_dev->active_scan_mask);
31 
32 	st->chip_config.accl_fifo_enable =
33 		test_bit(INV_MPU6050_SCAN_ACCL_X,
34 			 indio_dev->active_scan_mask) ||
35 		test_bit(INV_MPU6050_SCAN_ACCL_Y,
36 			 indio_dev->active_scan_mask) ||
37 		test_bit(INV_MPU6050_SCAN_ACCL_Z,
38 			 indio_dev->active_scan_mask);
39 
40 	st->chip_config.temp_fifo_enable =
41 		test_bit(INV_MPU6050_SCAN_TEMP, indio_dev->active_scan_mask);
42 
43 	mask = 0;
44 	if (st->chip_config.gyro_fifo_enable)
45 		mask |= INV_MPU6050_SENSOR_GYRO;
46 	if (st->chip_config.accl_fifo_enable)
47 		mask |= INV_MPU6050_SENSOR_ACCL;
48 	if (st->chip_config.temp_fifo_enable)
49 		mask |= INV_MPU6050_SENSOR_TEMP;
50 
51 	return mask;
52 }
53 
54 static unsigned int inv_scan_query_mpu9x50(struct iio_dev *indio_dev)
55 {
56 	struct inv_mpu6050_state *st = iio_priv(indio_dev);
57 	unsigned int mask;
58 
59 	mask = inv_scan_query_mpu6050(indio_dev);
60 
61 	/* no magnetometer if i2c auxiliary bus is used */
62 	if (st->magn_disabled)
63 		return mask;
64 
65 	st->chip_config.magn_fifo_enable =
66 		test_bit(INV_MPU9X50_SCAN_MAGN_X,
67 			 indio_dev->active_scan_mask) ||
68 		test_bit(INV_MPU9X50_SCAN_MAGN_Y,
69 			 indio_dev->active_scan_mask) ||
70 		test_bit(INV_MPU9X50_SCAN_MAGN_Z,
71 			 indio_dev->active_scan_mask);
72 	if (st->chip_config.magn_fifo_enable)
73 		mask |= INV_MPU6050_SENSOR_MAGN;
74 
75 	return mask;
76 }
77 
78 static unsigned int inv_scan_query(struct iio_dev *indio_dev)
79 {
80 	struct inv_mpu6050_state *st = iio_priv(indio_dev);
81 
82 	switch (st->chip_type) {
83 	case INV_MPU9150:
84 	case INV_MPU9250:
85 	case INV_MPU9255:
86 		return inv_scan_query_mpu9x50(indio_dev);
87 	default:
88 		return inv_scan_query_mpu6050(indio_dev);
89 	}
90 }
91 
92 static unsigned int inv_compute_skip_samples(const struct inv_mpu6050_state *st)
93 {
94 	unsigned int gyro_skip = 0;
95 	unsigned int magn_skip = 0;
96 	unsigned int skip_samples;
97 
98 	/* gyro first sample is out of specs, skip it */
99 	if (st->chip_config.gyro_fifo_enable)
100 		gyro_skip = 1;
101 
102 	/* mag first sample is always not ready, skip it */
103 	if (st->chip_config.magn_fifo_enable)
104 		magn_skip = 1;
105 
106 	/* compute first samples to skip */
107 	skip_samples = gyro_skip;
108 	if (magn_skip > skip_samples)
109 		skip_samples = magn_skip;
110 
111 	return skip_samples;
112 }
113 
114 int inv_mpu6050_prepare_fifo(struct inv_mpu6050_state *st, bool enable)
115 {
116 	uint8_t d;
117 	int ret;
118 
119 	if (enable) {
120 		st->it_timestamp = 0;
121 		/* reset FIFO */
122 		d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_RST;
123 		ret = regmap_write(st->map, st->reg->user_ctrl, d);
124 		if (ret)
125 			return ret;
126 		/* enable sensor output to FIFO */
127 		d = 0;
128 		if (st->chip_config.gyro_fifo_enable)
129 			d |= INV_MPU6050_BITS_GYRO_OUT;
130 		if (st->chip_config.accl_fifo_enable)
131 			d |= INV_MPU6050_BIT_ACCEL_OUT;
132 		if (st->chip_config.temp_fifo_enable)
133 			d |= INV_MPU6050_BIT_TEMP_OUT;
134 		if (st->chip_config.magn_fifo_enable)
135 			d |= INV_MPU6050_BIT_SLAVE_0;
136 		ret = regmap_write(st->map, st->reg->fifo_en, d);
137 		if (ret)
138 			return ret;
139 		/* enable FIFO reading */
140 		d = st->chip_config.user_ctrl | INV_MPU6050_BIT_FIFO_EN;
141 		ret = regmap_write(st->map, st->reg->user_ctrl, d);
142 		if (ret)
143 			return ret;
144 		/* enable interrupt */
145 		ret = regmap_write(st->map, st->reg->int_enable,
146 				   INV_MPU6050_BIT_DATA_RDY_EN);
147 	} else {
148 		ret = regmap_write(st->map, st->reg->int_enable, 0);
149 		if (ret)
150 			return ret;
151 		ret = regmap_write(st->map, st->reg->fifo_en, 0);
152 		if (ret)
153 			return ret;
154 		/* restore user_ctrl for disabling FIFO reading */
155 		ret = regmap_write(st->map, st->reg->user_ctrl,
156 				   st->chip_config.user_ctrl);
157 	}
158 
159 	return ret;
160 }
161 
162 /**
163  *  inv_mpu6050_set_enable() - enable chip functions.
164  *  @indio_dev:	Device driver instance.
165  *  @enable: enable/disable
166  */
167 static int inv_mpu6050_set_enable(struct iio_dev *indio_dev, bool enable)
168 {
169 	struct inv_mpu6050_state *st = iio_priv(indio_dev);
170 	struct device *pdev = regmap_get_device(st->map);
171 	unsigned int scan;
172 	int result;
173 
174 	if (enable) {
175 		scan = inv_scan_query(indio_dev);
176 		result = pm_runtime_get_sync(pdev);
177 		if (result < 0) {
178 			pm_runtime_put_noidle(pdev);
179 			return result;
180 		}
181 		/*
182 		 * In case autosuspend didn't trigger, turn off first not
183 		 * required sensors.
184 		 */
185 		result = inv_mpu6050_switch_engine(st, false, ~scan);
186 		if (result)
187 			goto error_power_off;
188 		result = inv_mpu6050_switch_engine(st, true, scan);
189 		if (result)
190 			goto error_power_off;
191 		st->skip_samples = inv_compute_skip_samples(st);
192 		result = inv_mpu6050_prepare_fifo(st, true);
193 		if (result)
194 			goto error_power_off;
195 	} else {
196 		result = inv_mpu6050_prepare_fifo(st, false);
197 		if (result)
198 			goto error_power_off;
199 		pm_runtime_mark_last_busy(pdev);
200 		pm_runtime_put_autosuspend(pdev);
201 	}
202 
203 	return 0;
204 
205 error_power_off:
206 	pm_runtime_put_autosuspend(pdev);
207 	return result;
208 }
209 
210 /**
211  * inv_mpu_data_rdy_trigger_set_state() - set data ready interrupt state
212  * @trig: Trigger instance
213  * @state: Desired trigger state
214  */
215 static int inv_mpu_data_rdy_trigger_set_state(struct iio_trigger *trig,
216 					      bool state)
217 {
218 	struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig);
219 	struct inv_mpu6050_state *st = iio_priv(indio_dev);
220 	int result;
221 
222 	mutex_lock(&st->lock);
223 	result = inv_mpu6050_set_enable(indio_dev, state);
224 	mutex_unlock(&st->lock);
225 
226 	return result;
227 }
228 
229 static const struct iio_trigger_ops inv_mpu_trigger_ops = {
230 	.set_trigger_state = &inv_mpu_data_rdy_trigger_set_state,
231 };
232 
233 int inv_mpu6050_probe_trigger(struct iio_dev *indio_dev, int irq_type)
234 {
235 	int ret;
236 	struct inv_mpu6050_state *st = iio_priv(indio_dev);
237 
238 	st->trig = devm_iio_trigger_alloc(&indio_dev->dev,
239 					  "%s-dev%d",
240 					  indio_dev->name,
241 					  indio_dev->id);
242 	if (!st->trig)
243 		return -ENOMEM;
244 
245 	ret = devm_request_irq(&indio_dev->dev, st->irq,
246 			       &iio_trigger_generic_data_rdy_poll,
247 			       irq_type,
248 			       "inv_mpu",
249 			       st->trig);
250 	if (ret)
251 		return ret;
252 
253 	st->trig->dev.parent = regmap_get_device(st->map);
254 	st->trig->ops = &inv_mpu_trigger_ops;
255 	iio_trigger_set_drvdata(st->trig, indio_dev);
256 
257 	ret = devm_iio_trigger_register(&indio_dev->dev, st->trig);
258 	if (ret)
259 		return ret;
260 
261 	indio_dev->trig = iio_trigger_get(st->trig);
262 
263 	return 0;
264 }
265